RUcore: Rutgers University Community Repository
Inertial measurement units for tracking human pose and motions
Descriptive
TitleInfo
Title
Inertial measurement units for tracking human pose and motions
SubTitle
testing and calibration
Name
(type = personal)
NamePart
(type = family)
LaCanna
NamePart
(type = given)
Casey Quinn
NamePart
(type = date)
1994-
DisplayForm
Casey Quinn LaCanna
Role
RoleTerm
(authority = RULIB)
author
Name
(type = personal)
NamePart
(type = family)
Craelius
NamePart
(type = given)
William
DisplayForm
William Craelius
Affiliation
Advisory Committee
Role
RoleTerm
(authority = RULIB)
chair
Name
(type = corporate)
NamePart
Rutgers University
Role
RoleTerm
(authority = RULIB)
degree grantor
Name
(type = corporate)
NamePart
School of Graduate Studies
Role
RoleTerm
(authority = RULIB)
school
TypeOfResource
Text
Genre
(authority = marcgt)
theses
OriginInfo
DateCreated
(qualifier = exact)
2018
DateOther
(qualifier = exact);
(type = degree)
2018-10
CopyrightDate
(encoding = w3cdtf)
2018
Place
PlaceTerm
(type = code)
xx
Language
LanguageTerm
(authority = ISO639-2b);
(type = code)
eng
Abstract
(type = abstract)
This thesis presents the development of CAM, a Cranial Angle Monitor, using a Metawear Cpro
Inertial Measurement Unit (IMU). The goal of CAM is to measure static cranial position, so the
major task was to optimize the accuracy and stability of components of the IMU, by developing algorithms to compensate for errors. It was found that the gyroscope drift was linear, but varied
among IMUs and among axes. Gyroscope performance was measured during multiple test runs
under static conditions, to test the influence of several parameters, including, device, axis, run
time, orientation, and time between runs. Drifts between devices and the 3 angular axes were
tested and found to be inconsistent and could not be used for calibration. Other factors, including run duration, orientation, and time between runs, did not significantly influence repeatability, and
results were consistent within 1°/min. Static tests were done with the IMU sitting on a table or attached to a vertical surface. Dynamic tests were done with the IMU fixed to a robotic arm and
rotated 1 radian in each gyroscope axis individually to determine the sensor’s accuracy. While the
IMU proved highly accurate for dynamic motions, with < 0.33 degrees error, the inherent baseline drift of the gyroscope proved too large for static applications of hour long testing, such
as HoBE tracking in hospitals. These results provide the first systematic test of factors
influencing IMU accuracy in static and dynamic conditions for the CAM.
Inertial Measurement Unit (IMU). The goal of CAM is to measure static cranial position, so the
major task was to optimize the accuracy and stability of components of the IMU, by developing algorithms to compensate for errors. It was found that the gyroscope drift was linear, but varied
among IMUs and among axes. Gyroscope performance was measured during multiple test runs
under static conditions, to test the influence of several parameters, including, device, axis, run
time, orientation, and time between runs. Drifts between devices and the 3 angular axes were
tested and found to be inconsistent and could not be used for calibration. Other factors, including run duration, orientation, and time between runs, did not significantly influence repeatability, and
results were consistent within 1°/min. Static tests were done with the IMU sitting on a table or attached to a vertical surface. Dynamic tests were done with the IMU fixed to a robotic arm and
rotated 1 radian in each gyroscope axis individually to determine the sensor’s accuracy. While the
IMU proved highly accurate for dynamic motions, with < 0.33 degrees error, the inherent baseline drift of the gyroscope proved too large for static applications of hour long testing, such
as HoBE tracking in hospitals. These results provide the first systematic test of factors
influencing IMU accuracy in static and dynamic conditions for the CAM.
Subject
(authority = RUETD)
Topic
Biomedical Engineering
Subject
(authority = ETD-LCSH)
Topic
Cephalometry
RelatedItem
(type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier
(type = RULIB)
ETD
Identifier
ETD_9298
PhysicalDescription
Form
(authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (24 pages) : illustrations
Note
(type = degree)
M.S.
Note
(type = bibliography)
Includes bibliographical references
Note
(type = statement of responsibility)
by Casey Quinn LaCanna
RelatedItem
(type = host)
TitleInfo
Title
School of Graduate Studies Electronic Theses and Dissertations
Identifier
(type = local)
rucore10001600001
Location
PhysicalLocation
(authority = marcorg);
(displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier
(type = doi)
doi:10.7282/t3-1g15-wv74
Genre
(authority = ExL-Esploro)
ETD graduate
Back to the top
Rights
RightsDeclaration
(ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder
(type = personal)
Name
FamilyName
LaCanna
GivenName
Casey
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime
(encoding = w3cdtf);
(qualifier = exact);
(point = start)
2018-10-01 15:51:13
AssociatedEntity
Name
Casey LaCanna
Role
Copyright holder
Affiliation
Rutgers University. School of Graduate Studies
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
Back to the top
Technical
RULTechMD
(ID = TECHNICAL1)
ContentModel
ETD
OperatingSystem
(VERSION = 5.1)
windows xp
CreatingApplication
Version
1.5
DateCreated
(point = end);
(encoding = w3cdtf);
(qualifier = exact)
2018-10-04T13:06:18
DateCreated
(point = end);
(encoding = w3cdtf);
(qualifier = exact)
2018-10-04T13:07:23
ApplicationName
SAMBox 1.1.43 (www.sejda.org)
Back to the top
Statistical Profile